The Attitude Control of Quadrotor UAV Based on Improved ADRC

UAV control systems are subject to nonlinear dynamics, multi-channel coupling, uncertainties, and external disturbances. To mitigate these challenges, this study introduces an enhanced Active Disturbance Rejection Control (ADRC) approach. This method integrates fuzzy control and Kalman filtering with traditional ADRC techniques, and simulations are carried out for the three attitude angle channels of the quadrotor UAV. Simulation studies demonstrate that improved ADRC technique achieves superior performance over conventional ADRC, exhibiting faster settling speed and stronger anti-interference capability in quadrotor UAV attitude regulation.